ISSKeypoints.cpp File Reference

(5c982c7 (Thu Apr 18 12:15:13 2024 -0700))

#include <Eigen/Core>
#include <Eigen/Eigenvalues>
#include <algorithm>
#include <cmath>
#include <memory>
#include <numeric>
#include <tuple>
#include <vector>
#include "open3d/geometry/KDTreeFlann.h"
#include "open3d/geometry/Keypoint.h"
#include "open3d/geometry/PointCloud.h"
#include "open3d/utility/Eigen.h"
#include "open3d/utility/Logging.h"

Namespaces
	open3d
	open3d::geometry
	open3d::geometry::keypoint

Functions
std::shared_ptr< PointCloud >	open3d::geometry::keypoint::ComputeISSKeypoints (const PointCloud &input, double salient_radius=0.0, double non_max_radius=0.0, double gamma_21=0.975, double gamma_32=0.975, int min_neighbors=5)
	Function that computes the ISS Keypoints from an input point cloud. This implements the keypoint detection module proposed in Yu Zhong ,"Intrinsic Shape Signatures: A Shape Descriptor for 3D Object Recognition", 2009. The implementation is inspired by the PCL one. More...